Launch-controlled unmanned aerial vehicles, and associated systems and methods

ABSTRACT

Launch-controlled unmanned aerial vehicles, and associated systems and methods are disclosed. A computer-implemented method for operating an unmanned aerial vehicle in a representative embodiment includes detecting at least one parameter of a motion of the UAV as a user releases the UAV for flight. Based at least in part on the at least the one detected parameter, the method can further include establishing a flight path for the UAV, and directing the UAV to fly the flight path.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of and claims priority to U.S.patent application Ser. No. 14/746,401, filed on Jun. 22, 2015 andentitled LAUNCH-CONTROL UNMANNED AERIAL VEHICLES, AND ASSOCIATED SYSTEMSAND METHODS, the contents of which are fully incorporated herein byreference. U.S. patent application Ser. No. 14/746,40, and henceforthwith the present continuation application, claims priority to eachof U.S. Provisional Application No. 62/016,010, filed on Jun. 23, 2014and entitled SYSTEMS AND METHODS FOR WEARABLE DRONES, and U.S.Provisional Application No. 62/072,291, filed on Oct. 29, 2014 andentitled SYSTEMS AND METHODS FOR GESTURE-CONTROLLED UAV LAUNCH. Thecontents of U.S. Provisional Application 62/016,010 and U.S. ProvisionalApplication No. 62/072,291, are fully incorporated herein by reference.

TECHNICAL FIELD

The present technology is directed generally to wearable and/orgesture-controlled unmanned aerial vehicles, and associated systems andmethods.

BACKGROUND

Unmanned aerial vehicles (UAVs) have been used in a wide variety ofcapacities to provide surveillance and perform other tasks. PersonalUAVs have become very popular over the last several years as a tool toprovide individuals with an aerial perspective. One drawback withpersonal UAVs, even small personal UAVs, is that although they may beportable, they typically require at least a backpack, bag or purse fortransportation from one site to another. Conventional UAVs are typicallyremote controlled, or follow a pre-programmed trajectory, orautonomously determine a trajectory via input parameters from sensors.Another drawback with existing UAVs is that, despite the apparent levelof programming and automation, they may still be difficult and/ornon-intuitive to control.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a partially schematic, isometric illustration of a system thatincludes an unmanned aerial vehicle (UAV) launched by a user, inaccordance with an embodiment of the present technology.

FIG. 2 is a partially schematic, isometric illustration of a UAV in aflyable configuration, in accordance with an embodiment of the presenttechnology.

FIG. 3 is a partially schematic, isometric illustration of the UAV shownin FIG. 2 in a wearable configuration in accordance with an embodimentof the present technology.

FIG. 4 is a partially schematic, side view of the UAV shown in FIG. 2during conversion between a flyable configuration and a wearableconfiguration.

FIG. 5 is a partially schematic, end view of the UAV shown in FIG. 2 ina wearable configuration with a wristband clasp in accordance withanother embodiment of the present technology.

FIG. 6 is a partially schematic, isometric illustration of a UAV wornabout a user's wrist in accordance with an embodiment of the presenttechnology.

FIG. 7 is a partially schematic, isometric illustration of the UAV wornabout the user's wrist in accordance with another embodiment of thepresent technology.

FIG. 8 is a schematic illustration of a flight controller havingcomponents configured in accordance with an embodiment of the presenttechnology.

FIGS. 9A-9C illustrate a prototypical UAV configured in accordance withan embodiment of the present technology, with FIG. 9A illustrating anisometric view of the UAV, FIG. 9B illustrating an isometric view of theUAV worn by a user, and FIG. 90 illustrating an enlarged view of aportion of the UAV.

FIGS. 10A-10J illustrate configurable boom portions in accordance withembodiments of the present technology, with a first embodiment shown ina straight configuration (FIG. 10A) and a bent configuration (FIG. 10B);a second embodiment shown in a straight configuration (FIG. 100) and abent configuration (FIG. 10D); a third embodiment shown in a straightconfiguration (FIG. 10E) and a bent configuration (FIG. 10F); and afourth embodiment shown in a straight configuration (FIG. 10G), adownwardly bent configuration (FIG. 10H) and an upwardly bentconfiguration (FIG. 10I), and a representative UAV having boom portionswith a bi-stable configuration (FIG. 10J).

FIG. 11 is a partially schematic illustration of a UAV having a wearableconfiguration in the form of a ring, in accordance with an embodiment ofthe present technology.

FIG. 12 is a partially schematic illustration of a UAV having a wearableeyeglass configuration in accordance with an embodiment of the presenttechnology.

FIGS. 13A-13C are partially schematic illustrations of a UAV having awearable configuration in the form of a pair of eyeglasses, inaccordance with another embodiment of the present technology, with theUAV shown from the front (FIG. 13A), the top (FIG. 13B) and in a foldedconfiguration (FIG. 13C).

FIG. 14A illustrates a computer system suitable for supporting UAVoperations in accordance with embodiments of the present technology.

FIG. 14B illustrates a representative UAV in a UAV frame of reference inaccordance with an embodiment of the present technology.

FIGS. 15A-15G illustrate a sequence of steps for operating a UAV inaccordance with an embodiment of the present technology, with the UAVshown in a first phase (FIG. 15A), a second phase (FIG. 15B), a thirdphase (FIG. 15C), a fourth phase (FIG. 15D), a fifth phase (FIG. 15E), asixth phase (FIG. 15F), and a seventh phase (FIG. 15G).

FIG. 16 is a flow diagram illustrating representative steps foroperating a UAV in accordance with an embodiment of the presenttechnology.

FIGS. 17A-17B schematically illustrate techniques for determining andflying to a UAV target location in a first mode and a second mode,respectively, in accordance with embodiments of the present technology.

FIG. 18 is a timeline illustrating representative maneuvers conducted bya UAV in accordance with embodiments of the present technology.

The headings provided herein are for convenience only and do notnecessarily affect the scope or meaning of the embodiments. Further, thedrawings have not necessarily been drawn to scale. For example, thedimensions of some of the elements in the Figures can be expanded orreduced to help improve the understanding of the embodiments. Similarly,some components and/or operations can be separated into different blocksor combined into a single block for the purposes of discussion of someof the embodiments. Moreover, while the various embodiments are amenableto various modifications and alternative forms, specific embodimentshave been shown by way of example in the drawings and are described indetail below.

DETAILED DESCRIPTION

The presently disclosed technology is directed generally to wearableand/or launch-controlled unmanned aerial vehicles (UAVs) and associatedsystems and methods. The methods include methods of use, methods ofinstructing or directing use and methods of manufacture. Specificembodiments are described below in the context of correspondingrepresentative Figures. Several details describing structures orprocesses that are well-known and often associated with UAVs, but thatmay unnecessarily obscure some significant aspects of the presenttechnology, are not set forth in the following description for purposesof clarity. Moreover, although the following disclosure sets forthseveral embodiments of different aspects of the disclosed technology,several other embodiments of the technology can have differentconfigurations or different components than those described in thissection. As such, the disclosed technology may have other embodimentswith additional elements, and/or without several of the elementsdescribed below with reference to FIGS. 1-18.

Many embodiments of the present disclosure described below may take theform of computer- or controller-executable instructions, includingroutines executed by a programmable computer or controller. Thoseskilled in the relevant art will appreciate that the disclosure can bepracticed on computer systems other than those shown and describedbelow. The technology can be embodied in a special purpose computer ordata processor that is specifically programmed, configured orconstructed to perform one or more of the computer-executableinstructions described below. Accordingly, the terms “computer” and“controller” as generally used herein refer to any suitable dataprocessor and can include Internet appliances and handheld devices,including palmtop computers, wearable computers, cellular or mobilephones, multi-processor systems, processor-based or programmableconsumer electronics, network computers, mini-computers and the like.Information handled by these computers and/or controllers can bepresented to a user, observer, or other participant via any suitabledisplay medium, such as an LCD screen.

In particular embodiments, aspects of the present technology can bepracticed in distributed environments, where tasks or modules areperformed by remote processing devices that are linked through acommunications network. In distributed computing environments, programmodules or subroutines may be located in local and remote memory storagedevices. Aspects of the technology described below may be stored ordistributed on computer-readable media, including magnetically oroptically readable or removable computer disks, as well as distributedelectronically over networks. Data structures and transmissions of dataparticular to aspects of the present technology are also encompassedwithin the scope of particular embodiments of the present technology.

1. Overview

Certain aspects of the present technology are directed to wearable UAVs.As used herein, the term “wearable” refers generally to a UAV that canboth fly and be worn by a user. This is to be distinguished from a UAVthat is merely carried by the user when it is not being flown. Insteadof merely being carried by the user, the UAV includes a structure thatis shaped and configured to actively or passively conform to a body partof the user, so that the user can walk and/or perform other actionswithout having to hold the UAV in his or her hands. Representativewearable UAVs can be worn on the user's wrist (like a watch), or wraparound the upper arm, or on the users neck like a necklace, or on theuser's shoulders (like a shirt, sweater, or a backpack), or on theuser's finger (like a ring), or on the user's head (like glasses or ahat), or on the user's waist (like a belt or a fanny pack), on theuser's feet (like sandals or shoes), or in other suitable manners. Acommon feature of the disclosed embodiments is that the structure thatis wearable by the user remains a part of the UAV when the UAV is inflight. Particular embodiments of wearable UAV configurations aredescribed further below with reference to FIGS. 1-13C.

Other aspects of the presently disclosed technology relate to techniquesfor controlling a UAV, in particular, techniques for determining atarget location and/or target orientation for a UAV based on the mannerin which the UAV is launched. For example, if the user throws the UAVstraight up, the UAV can fly to a target location directly overhead. Ifthe user throws the UAV laterally, the UAV moves away from the user. Thedistance between the user and the target location can be determined bythe velocity vector (and/or related value) imparted by the user to theUAV as the user launches the UAV. Further features of the flighttrajectory may be controlled by the exact path of the throw. Forexample, the user can instruct the UAV to circle around him or her bylaunching the UAV along a half circle. The user can also control orinfluence the UAV's behavior once it reaches the target location. Forexample, the user can instruct the UAV to turn and photograph the user,or the user can instruct the UAV to follow the user for additionalphotographs or videos. Particular embodiments of representative controltechniques are described below with reference to FIGS. 14A-18

2. Representative Wearable UAVs

FIG. 1 is a partially schematic, isometric illustration of a system 100that includes a wearable UAV 110. In this particular embodiment, the UAV110 can be configured to be hand-launched by a user 190, and can be wornaround the user's wrist 191, as will be described in further detaillater. The UAV 110 can include a structural support 120 that carries apropulsion system 140 and, in particular embodiments, a payload 130. Thesupport 120 can include a central portion 121 and multiple, outwardlyextending boom portions 122, The central portion 121 can house thepayload 130 and other equipment, for example, a power source, one ormore sensors, and/or a flight controller. In an embodiment shown in FIG.1, the payload 130 includes a camera 131 supported by a pivot, swivel,gimbal and/or other mount 132 so that it can be pointed in any ofmultiple directions. The propulsion system 140 can include a pluralityof motors 141 (e.g., one motor for each boom portion 122) coupled to thepower source (shown in FIG. 2). Each motor 141 can include a shaft 142attached to a propeller 143. In the example shown in FIG. 1, the UAV 110has a quadrotor configuration, with four motors 141 and fourcorresponding propellers 143. In other embodiments, the propulsionsystem 140 can have other suitable configurations.

As is also shown in FIG. 1, the UAV 110 can include one or more shieldsor shield portions 144 positioned around the propellers 143. In aparticular embodiment, the shield 144 portions can partially surroundthe propeller 143, and can align when the boom portions 122 are foldedaround the user's wrist 191 to provide a discontinuous cylinder aroundall four propellers 143. Accordingly, each shield portion 144 forms aquarter ring in the flyable configuration shown in FIG. 1, and astaggered, full ring when the UAV 110 is worn.

FIG. 2 is a partially schematic, top isometric illustration of arepresentative UAV 110, illustrating further structural and functionalfeatures of the UAV. The central portion 121 of the UAV's support 120carries a controller 160 in addition to the camera 131. The controller160 can include a controller board 161 (e.g., a printed circuit board)that in turn carries multiple circuit elements (described later) used tocontrol the UAV 110. The central portion 121 can also carry a powersource 146 used to power the controller 160, the camera 131, and themotors 141. In a representative embodiment, the power source 146 caninclude a battery, for example, a 3.7-volt lithium polymer battery witha capacity of 250 mAh. The power source 146 can be connected topower-consuming devices (e.g., the motors 141, camera 131 and controller160) with wiring 147. In a particular embodiment, the power source 146can provide for a total flight time of about five minutes. This issufficient for 50 basic out-and-back “boomerang” flights of about sixseconds each. In other embodiments, the power source 146 can includeother suitable devices, for example, ultracapacitors to provide highpeak power. In particular embodiments, the battery can be charged at anysuitable charging station, for example, a computer or power outlethaving a compatible charging port. In other embodiments, the battery canbe charged by another wearable element, in addition to or in lieu of thecomputer or power outlet. For example, the user can wear an additionalwristband, or another article of clothing (e.g., a shoe) that includes acharger that is releasably coupled to the power source 146 when the UAV110 is being worn. In further particular embodiments, the wearablecharger can include a rechargeable battery that has a significantlygreater charge capacity than the on-board power source 146, and that iswoven or otherwise incorporated into the article of clothing. In stillfurther embodiments, the wearable recharging device can include one ormore solar panels, e.g., woven into or otherwise integrated with theuser's clothing. Accordingly, the user can launch the UAV 110 on aseries of multiple, relatively short-duration flights or missions, withthe UAV returning to the user between flights for charging.

The components of the UAV 110 can be distributed over the support 120 soas to balance the UAV 110. Accordingly, in a neutral position, the UAVwill not rotate about any of the illustrated x, y, or z axes. Thepropellers 143 can be individually controlled to direct the UAV 110along any of the x, y, or z axes, and/or rotate the UAV about any of theforegoing axes during flight. The propellers 143 can each face upwardly,and can be in the same horizontal plane to reduce or eliminate trimloads. In a representative embodiment, the motors 141 driving thepropellers 143 can be approximately 20 mm long and approximately 7 mm indiameter, with a brushed careless configuration, or a brushless motor incombination with an electronic speed controller. The propellers 143 canbe approximately 56 mm in diameter. In a particular embodiment, thepropellers can be made from soft cloth or other soft materials to avoidinjuring the user and/or others. For example, the entire propeller orjust the tips of the propeller can include soft cloth, with or withoutan internal supporting structure. For example, in particularembodiments, the propellers 143 can include one or more internal weights(within the cloth) that give the propellers 143 a suitable aerodynamicshape when the propellers 143 rotate (e.g., under centrifugal forces).Accordingly, in a particular embodiment, the overall weight of the UAV110 can be from about 30 to about 70 grams, and the thrust provided bythe motors 141 and the propellers 143 can be about 50-100 grams, withthe difference in weight available for other components, e.g., thepayload 130 and/or other equipment. These components can includecameras, speakers, wireless access points, radio receivers,transmitters, and/or other transceivers, autonomous control logicelements, propeller guards, fashionable accessories, and/or otheraesthetic components that may be particularly suitable for the UAV 110as it is being worn. In other embodiments, the UAV 110 can have a weightin the range of from about 10 to about 80 grams, or wider, with a liftcapability of from about 1.5 to about 2 times the UAV weight. In stillfurther embodiments, the UAV 110 can have other suitable weights withlift/weight capacities greater than 1.0, including 1.5 to 2.0.

In an embodiment shown in FIG. 2, the UAV 110 is changeable between aflyable configuration and a wearable configuration. For example, theboom portions 122 can be rotated downwardly relative to the centralportion 121 about the x axis, as indicated by arrows A to assume awristband configuration. Optionally, the boom portions 122 can flexabout the z axis, as indicated by arrows B to narrow the width orprofile of the resulting wrist band. Further embodiments of theconfigurable features of the UAV 110 are described below with referenceto FIGS. 3-7. Suitable structures for facilitating the configurationchanges are described below with reference to FIGS. 10A-10F.

FIG. 3 is a partially schematic illustration of the UAV 110 with theboom portions 122 flexed, bent, rotated, and/or otherwise reconfiguredto form a wristband 123. For example, to form a wristband it can beadvantageous for the boom portions 122 to be shaped in a manner thatplaces the motors 141 at the edges of a planar rectangle (in ahorizontal x-y plane) when in the flyable configuration shown in FIG. 2.In the wearable configuration shown in FIG. 3, it can be advantageousfor the motors 141 to meet pair-wise to form a band in the y-z plane.One way to accomplish this result is to shape each boom portion 122 likethe arc of a sine wave and bend the boom portions 122 around an axisthat is perpendicular to a line connecting the motor 141 and the centralportion 121. In particular embodiments, the boom portions 122 can beformed integrally with the central portion 121 to form a monolithicstructure. In other embodiments, the boom portions 122 can be formedseparately from the central portion 121 and then attached to the centralportion 121. In any of these embodiments, the central portion 121 canoptionally include stiffening features or other features that resist orlimit the type of motion undergone by the central portion 121 when theuser manipulates the boom portions 122.

The boom portions 122 can have a bi-stable configuration so as topreferentially snap, flip and/or otherwise readily change between theconfiguration shown in FIG. 2 and the configuration shown in FIG. 3.Further details of suitable bi-stable structures are described laterwith reference to FIGS. 10E-10F. In addition to (or in lieu of) thebi-stable configuration, the UAV 110 may include features that resistinadvertently changing from the wearable configuration shown in FIG. 3to the flyable configuration shown in FIG. 2. For example, each of themotors 141 can include one or more motor magnets 145. The poles of themotor magnets 145 can be oriented so that, in the wearable configurationshown in FIG. 3, at least two of the motor magnets 145 are attractedtoward each other to maintain the UAV 110 in the wearable wristbandconfiguration. To convert from the wearable configuration to the flyableconfiguration, the user deliberately moves the attached boom portions122 apart from each other. The boom portions 122 can then spring back tothe positions shown in FIG. 2.

In other embodiments, the motor magnets 145 may be too weak to performthe foregoing clamp or closure function, and/or may not be amenable to aposition that supports the mutual attraction described above.Accordingly, the UAV 110 can include a separate closure device 170 forperforming this function. In an embodiment shown in FIG. 3, the closuredevice 170 includes external magnets 171 that are positioned to keep thewristband 123 closed or at least partially closed until the userdeliberately spreads the boom portions 122 apart from each other toassume the flyable configuration shown in FIG. 2.

FIG. 4 illustrates the UAV 110 with a closure device 470 arranged inaccordance with another embodiment of the present technology. In thisembodiment, the closure device 470 can include a first clasp member 471a on one boom portion 122 and a second clasp member 471 b on anotherboom portion 122. The first clasp member 471 a can have a prong 473, andthe second clasp member 471 b can have an aperture 474. When theoppositely-facing boom portions 122 are bent or folded toward eachother, as shown in FIG. 5, the first clasp member 471 a releasablycouples to the second clasp member 471 b to releasably secure the UAV110 in the wearable configuration.

FIG. 6 illustrates the UAV 110 in a wearable configuration with thepower source 146 and controller 160 facing upwardly or outwardlyrelative to the user's wrist 191. In particular embodiments, thecontroller 160 and/or other elements of the central portion 121 canhouse or carry other elements that the user may want to have access towhen the UAV 110 is worn. Such features can include a time display (likea conventional watch), a personal assistant, dictation, device,microphone, decorative features, and/or other features. The foregoingfeatures can provide the full (or partial) functionality of a smartwatch. Accordingly, the upward-facing orientation shown in FIG. 6 canfacilitate the user's access to these elements.

FIG. 7 illustrates the UAV 110 in another wearable configuration inwhich the motors 141 and propellers 143 face outwardly. The user canselect whichever configuration he or she likes, depending, e.g., onwhether the user wishes to access the controller 160 (and/or otherfeatures at the central portion 121), as shown in FIG. 6, or the motors141 and propellers 143.

FIG. 8 is a partially schematic illustration of an embodiment of theflight controller 160 described above. The flight controller 160 caninclude a circuit board 161 on which multiple circuit elements aremounted. These circuit elements can include a radio frequency receiveror transceiver 862, a microcontroller 863, and/or one or more sensors864. Representative sensors can include gyroscopes, accelerometers,pressure sensors, and/or other elements that facilitate operating and,in particular, guiding the UAV 110. The controller 160 can also includemotor drivers 865, each of which can control one of the motors describedabove. The microcontroller 863 can receive and store inputs that arethen directed to the motor drivers 865 for driving the motors as the UAVoperates. For example, the gyroscope and accelerometer can sense theactual orientation state of the UAV. The microcontroller 863 can comparea desired state (e.g., flight path, vehicle orientation, and/or motion)to the actual state and can compute a suitable control signal for themotors in order to reach the desired state. The algorithm to accomplishthis can be based on a PID controller. The motor drivers 865 can drivethe speed of the motors according to the control signal.

FIGS. 9A-9C illustrate a prototypical UAV 910 configured in accordancewith a particular embodiment of the present technology. The UAV 910includes a support 920 formed from fiberglass. In this embodiment, thesupport 920 is monolithic and includes a central portion 921 and fourintegrally formed boom portions 922. Corresponding motors 941 andpropellers 943 are carried by (e.g., mounted at the ends of) each boom922. A controller 960 mounted on a circuit board 961 is carried at thecentral portion 921 and includes wiring 947 coupled to the motors 941and a power source 946.

FIG. 98 illustrates the UAV 910 in its wearable configuration, with theboom portions 922 wrapped about the user's wrist 191 to form a wristband923.

FIG. 9C is an enlarged, isometric illustration of the central portion921 of the UAV 910, illustrating the controller 160 and wiring 947. Thecentral portion 921 also carries a corresponding camera 931 and thepower source 946. Representative circuit elements include a radioreceiver 962, microcontroller 963 and inertial measurement unit (IMU)968.

FIGS. 10A-10F illustrate boom portions (or parts of the boom portions)configured in accordance with several representative embodiments of thepresent technology. Referring first to FIG. 10A, a representative boomportion 1022 a can include a bendable plastic and/or fiberglassmaterial, and can accordingly change configuration from the generallystraight shape shown in FIG. 10A, to a bent shape shown in FIG. 10B. Inparticular embodiments, the boom portion 1022 a can include an internalflexible, resilient member (e.g., a strip of metal) that allows the boomportion to maintain the shape in which the user places it. The boomportion 1022 a can be biased to the generally straight shape, andlatched or otherwise releasably secured in the bent shape using magnets,latches or other suitable devices, as discussed above with reference toFIGS. 3-5.

FIG. 100 illustrates another boom portion 1022 c that includes one ormore slots 1024 extending transverse to an elongation axis E of the boomportion 1022 c. The slots 1024 allow the user to bend the boom portion1022 c from the straight, flat configuration shown in FIG. 100 to thecurved, wearable configuration shown in FIG. 100. In a particular aspectof this embodiment, the slots 1024 can be sized and positioned so that,in addition to facilitating the user bending the boom portion as shownin FIG. 10D, they can facilitate the user consistently returning theboom portion 1022 c to the straight, flyable configuration shown in FIG.10C. For example, the slots 1024 can be narrow so as to prevent the boomportion 1022 c from being overly bent in an upward direction (e.g., intoa “U”-shape) which may not be suitable for flight. In addition, once theslots 1024 have closed (as the boom portion 1022 c is bent from theconfiguration shown in FIG. 10D to the configuration shown in FIG. 10C),the resistance provided by adjacent segments 1025 of the boom portion1022 c coming into contact with each other can provide tactile feedbackindicating to the user that the boom portion 1022 c is in its properflyable configuration.

FIG. 10E illustrates still another boom portion 1022 e having abi-stable spring-type configuration, at least generally similar to thatused for snap band products (e.g., metal tape measures and wrist bands).Accordingly, the boom portion 1022 e can be elongated along anelongation axis E and, in the flyable configuration shown in FIG. 10E,can be at least slightly curved about the elongation axis E, asindicated by arrow C1. This shape resists (but still allows) the boom1022 e to be bent around a transverse axis T, as indicated in FIG. 10F.In the wearable configuration shown in FIG. 10F, the boom portion 1022 eis curved about the transverse axis T, as indicated by arrow C2.Accordingly, the boom portion 1022 e can be readily “snapped” betweenthe flyable configuration shown in FIG. 10E and the wearableconfiguration shown in FIG. 10F. A representative installation includesfour independently “snappable” boom portions 1022 e attached to a commoncentral portion.

FIGS. 10G-10I illustrate yet another boom portion 1022 g having abi-stable configuration in accordance with another embodiment of thepresent technology. In one aspect of this embodiment, the boom portion1022 g includes multiple segments 1025 joined via corresponding hinges1026. The hinges can be live hinges (e.g., formed from the same materialas, and integrally with, the segments 1025) or initially separate hingesthat are connected between pairs of segments 1025. In either embodiment,the segments 1025 can additionally be connected with an elastic member1027 (e.g., a rubber band) as shown in FIG. 10H, The elastic member 1027will bias the boom portion 1022 g to the shape shown in FIG. 10H, untilan upward force (indicated by arrows U) is applied to the downwardlybowed boom portion 1022 g. In response to the upward force, the boomportion 1022 g will snap upwardly so as to be bowed in the oppositedirection. This motion will result whether the elastic member 1027 ispositioned below the hinges 1026, as shown in FIG. 10H, or above thehinges 1026, as shown in FIG. 10I. In the configuration shown in FIG.10I, a user can apply a downward force, indicated by arrows D, to snapthe boom portion 1022 g, initially an upwardly bowed shape, to adownwardly bowed shape. In either embodiment, the lower sidewalls at thesegments 1025 can have a greater chamfer angle than the upper sidewallsto allow the boom portion 1022 g to curve more when downwardly bowed tofit around the user's wrist.

In still further embodiments, the boom portion can have other bi-stableconfigurations, for example, generally similar to those used for snaphair clips.

FIG. 10J illustrates a representative UAV 1010 having boom portions 1022with a bi-stable configuration generally similar to that discussed abovewith reference to FIGS. 10G-10I. The boom portions 1022 have an upwardlybowed configuration for flight, as shown in FIG. 10J, and can be snappeddownwardly to form a wristband when worn. The boom portions 1022,together with a corresponding central portion 1021, form an overallsupport structure 1020. The central portion 1021 can house acorresponding camera 1031 behind an aperture 1033. The support structure1020 can include lightening holes 1024 in the central portion 1021and/or the boom portions 1022 to reduce the weight of the UAV 1010. In aparticular embodiment shown in FIG. 10J, the boom portions 1022 canextend far enough from the central portion 1021 to allow a user toeasily catch the UAV 1010 by grasping the central portion 1021 andavoiding the propellers 1043 at the ends of the boom portions 1022.

FIG. 11 is a partially schematic illustration of a UAV 1110 configuredto be worn like a ring in accordance with another aspect of the presenttechnology. In particular, the UAV 1110 can include multiple boomportions 1122, each of which supports a corresponding motor 1141 andpropeller 1143, in the wearable state, the boom portions 1122 curve ingenerally the same manner described above with reference to FIGS. 3-1OFto assume the shape of a ring band 1125 that is worn on the users finger192. Accordingly, the overall arrangement described above with referenceto the wrist-worn UAV 110 can be applied, in a scaled-down manner, to beworn on the user's finger 192.

FIG. 12 illustrates another system 1200 having a UAV 1210 configured asa pair of eyeglasses 1250. For example, the UAV 1210 can include alightweight, durable support 1220 that in turn includes a rim 1251. Therim 1251 carries lenses 1252 (e.g., plastic lenses), and two templepieces or arms 1253 that are pivotably mounted to the rim 1251. The rim1251 can rest on the user's nose, and each temple piece 1253 can includea corresponding earpiece 1254 engaged with the user's ears so that theUAV 1210 can be worn, and can function, as a conventional pair ofeyeglasses 1250. The temple pieces 1253 can rotate or fold inwardly andoutwardly as indicated by arrows P. In addition, the UAV 1210 includes apropulsion system 1240 that in turn includes multiple (e.g., four)motors 1241, each of which drives a corresponding propeller 1243. Apower source 1246 (e.g., battery) can be carried by one temple piece1253, and other system components (e.g., a flight controller 1260), canbe carried by the other temple piece 1253 to balance the UAV 1210. Forexample, the components can be arranged to place the UAV center ofgravity in the center of the rectangle formed by the four motors 1241.Wiring 1247 can be routed along the rim 1251 and temple pieces 1253 toprovide power and signals, and can be routed through or close to thehinges between the rim 1251 and the temple pieces 1253 to reduce oreliminate binding or stretching. As discussed above with reference tothe UAV 110, the UAV 1210 shown in FIG. 12A can include a camera 1231 orother payload.

FIG. 13A is a front view of a prototypical embodiment of the UAV 1210.FIG. 13B is a top-down view of the UAV 1210 shown in FIG. 13A. Thetemple pieces 1253 can pivot back and forth between a folded and adeployed configuration as shown by arrows P, in the manner of aconventional pair of eye glasses. FIG. 130 illustrates the UAV 1220 withthe temple pieces 1253 in the folded configuration.

One feature of several embodiments discussed above is that the UAVs canboth perform a UAV mission (e.g., take photographs and/or videos) and beworn by the user when not deployed. An advantage of this feature is thatthe UAV is easier to transport and easier to quickly deploy and stow.

Another advantage of the foregoing features is that the UAV can be smallenough, compact enough, and maneuverable enough to take pictures and/orvideos of the user and/or other subjects in a wide variety of contextsand/or while the user or subject conducts a wide variety of actions.Such action shots and video are well beyond the capability of a typical“selfie” taken at arms' length or at the end of a pole. Still further,the UAV can follow the user as the user conducts such activities,providing yet another degree of realism and perspective for the imagesthe UAV takes.

2.0 Representative Control Arrangements

Each of the UAVs described above can be configured (e.g., programmed) tocarry out a variety of tasks. The overall UAV systems described hereincan include computers or computer systems in addition to the on-boardcontrollers described above. Such off-board computers can provideadditional functions, and can communicate with the UAV without addingweight to the UAV. For example, such systems can be used to create“canned” operation programs that are downloaded to the UAV forexecution. Such systems can also receive and/or process visual images,among other tasks.

FIG. 14A is a block diagram of a computing system 1480 that can be usedto implement features, e.g., navigation, object recognition,preprogrammed behavior and/or real time intelligent behavior, of atleast some of the foregoing embodiments. The computing system 1480 caninclude one or more central processing units (“processors”) 1481, atleast one memory 1482, input/output devices 1485 (e.g., keyboard and/orpointing devices, and/or display devices), storage devices 1484 (e.g.,disk drives), and network adapters 1486 (e.g., network interfaces) thatare connected to an interconnect 1483. The interconnect 1483 isillustrated schematically and can include any one or more separatephysical buses, point-to-point connections, or both, connected byappropriate bridges, adapters, or controllers. The interconnect 1483,therefore, can include, for example, a system bus, a PeripheralComponent Interconnect (PC1) bus or PC1-Express bus, a HyperTransport orindustry standard architecture (ISA) bus, a small computer systeminterface (SCSI) bus, a universal serial bus (USB), 11C (12C) bus, or anInstitute of Electrical and Electronics Engineers (IEEE) standard 1394bus, also called “Firewire”.

The memory 1482 and storage devices 1484 are computer-readable storagemedia that can store instructions that implement at least some portionsof the actions described herein. In addition, the data structures andmessage structures can be stored or transmitted via a data transmissionmedium, e.g., a signal on a communications link. Various communicationslinks can be used, e.g., the Internet, a local area network, a wide areanetwork, or a point-to-point dial-up connection. Thus, computer readablemedia can include computer-readable storage media (e.g., “nontransitory” media) and computer-readable transmission media.

The instructions stored in memory 1482 can be implemented as softwareand/or firmware to program the processor(s) 1481 to carry out actionsdescribed herein. In some embodiments, such software or firmware can beinitially provided to the processing system 1480 by downloading it froma remote system to the computing system 1480 (e.g., via network adapter1486).

The various embodiments described herein can be implemented by, forexample, programmable circuitry (e.g., one or more microprocessors)programmed with software and/or firmware, or entirely in special-purposehardwired (non-programmable) circuitry, or in a combination of suchforms. Special-purpose hardwired circuitry can be in the form of, forexample, one or more ASICs, PLDs, FPGAs, etc.

FIG. 14B is a partially schematic illustration of an overall system 1400that includes a UAV 1410. In a particular aspect of this embodiment, theUAV 1410 can have a quad-rotor configuration, with a support 1420 havingfour boom portions 1422, each supporting a corresponding motor 1441 andpropeller 1443. The motors 1441 can be brushless motors with a 13 mmdiameter, and the propellers can have a 75 mm diameter, in a particularembodiment. In other embodiments, the UAV 1410 can have any of the otherconfigurations described herein. A support 1420 carries a correspondingcontroller 1460 (e.g., an Intel Edison controller or aTangier-Merrifield platform), which can in turn include a housing 1466.In an embodiment shown in FIG. 14B, the housing 1466 carries acorresponding battery 1446 (e.g., a one-cell, 350 mAh lithium polymerbattery) and a camera 1431 (e.g., a USB webcam or state of the art cellphone camera module with or without an optical image stabilizer). Thehousing 1466 can also carry a control unit 1467, a sensor 1464 (e.g., anMS5611 pressure sensor available from Amsys of Mainz, Germany) foraltitude control, and an inertial measurement unit (IMU) 1468 (e.g., anMPU9250 unit available from Invensense of San Jose, Calif.), whichincludes an accelerometer. The IMU 1468 (a specific type of sensor) canin turn be secured to a vibration isolation mount 1469 that includes asuitable vibration isolating material, for example, Moongel®. Otherequipment that may be sensitive to vibrations (e.g., the camera 1431)can also be mounted on the same or a different isolation mount 1469. TheIMU 1468 senses accelerations and rotations along and about the x, y andz axis in a UAV frame of reference 1411. The user has a correspondinguser's frame of reference 1493, which can be aligned or partiallyaligned with the UAV frame of reference 1411 in preparation for aflight. For example, the X axis of the users frame of reference 1493 canbe aligned with the x axis of the UAV frame of reference 1411 alignedprior to flight. In a particular embodiment, the controller unit 1467stores acceleration and velocity values at a suitably high frequency(e.g., about 100 Hz) and stores the values for a period of time (e.g.,10 seconds). The velocity, acceleration (and/or other) information canthen be used to control the motors 1441 via corresponding electronicspeed controllers 1475. In a particular embodiment, the electronic speedcontrollers 1475 can be located on the boom portions 1422, as shownschematically in FIG. 14B.

Particular embodiments described below represent methods forpre-programming the trajectory of the UAV. A representative methodincludes launching the UAV by hand, while the motion of the launch ismeasured. The measurements, e.g., the parameters of this motion, can beused to pre-program the trajectory. For example, the direction of thelaunch can be used to set the direction of a linear trajectory, and theacceleration during the launch (resulting in a launch velocity at andshortly after launch) can be used to set the length of the trajectory.Setting direction and length of a linear trajectory allows the user tocontrol the return point of the UAV in three dimensions in someembodiments. A simplified version of this algorithm can constrain theheight of the UAV via altitude stabilization. This version can allow auser to control the direction and length of the linear trajectory in atwo-dimensional plane perpendicular to gravity.

One feature of the techniques described herein is that they can befaster and more intuitive to the user. In addition, embodiments of thetechniques do not require additional equipment, nor a manually operatedinterface (e.g., push buttons) to operate the UAV, e.g., with theexception of an emergency shut off switch which is readily accessible tothe user. In other embodiments, the user can optionally operate the UAVin a more conventional manner.

FIGS. 15A-15G illustrate the user 190 operating the UAV 1410 inaccordance with a particular embodiment of the present technology.Beginning with FIG. 15A, in a first (e.g., “idle”) phase 1595 a, theuser 190 carries the UAV 1410 (after having worn it) in preparation forlaunch. In FIG. 15B, during a second, e.g., ‘throw” phase 1595 b, theuser throws the UAV 1410 as indicated by arrow E1. In a particularembodiment, the user can incorporate, in the throwing gesture,information regarding the desired pose, orientation and/or maneuver tobe undertaken by the UAV once it reaches its target location. Forexample, if the user throws the UAV with the camera pointing toward theuser, the UAV can re-assume this orientation when it reaches the targetlocation. In particular embodiments, the UAV may be programmed withpre-set orientations or poses, and can interpolate, based on the inputreceived from the user as the user throws the UAV, to determine a finalpose.

After the user has released the UAV 1410 during the course of the throw,the UAV 1410 can begin a third, e.g., “freefall” phase 1595 c (FIG.15C), as indicated by arrow E2, under the influence of gravity. During afourth, e.g., “deceleration” phase 1595 d shown in FIG. 15D, thepropulsion system of the UAV 1410 operates to counter the freefallacceleration, as indicated by arrow E3. In FIG. 15E, the UAV 1410engages in a payload-specific fifth (e.g., “mission”) phase 1595 e. Forexample, when the UAV 1410 includes a camera, the fifth phase 1595 e caninclude taking a picture of the user 190 or other target. The UAV 1410can automatically orient the camera toward the user 190, or the user candirect the UAV 1410 to assume a different, e.g., mission specific,orientation. Accordingly, the UAV 1410 can include machine-visionfunctions to provide object recognition. Machine vision can also be usedfor navigation, tagging, and/or other tasks. The UAV can also executeother pre-defined maneuvers, e.g., circling the user or following theuser, both of which maneuvers can be performed while the camera istrained on the user or other target.

In FIG. 15F, the UAV 1410 operates in a sixth (e.g., “return”) phase1595 f, in which it begins flying back toward the user 190, as indicatedby arrow E4, or lands on the ground, or undergoes another suitable(e.g., end-of-mission) maneuver. In FIG. 15G, the user 190 catches theUAV 1410 during a seventh (e.g., “catch”) phase 1595 g of the operation.

In one aspect of the foregoing embodiment, the gesture-based techniquefor identifying, and guiding the UAV 1410 to its target location is theonly technique used to control the UAV. In other embodiments, the UAV1410 can include an optional manual operating function (e.g., via a joystick and/or other controller) and/or a manual override function (e.g.,to take over control after an errant throw), and/or voice controltechniques (received via a microphone) and/or hand gestures (e.g., signlanguage received via the on-board camera). In still furtherembodiments, the UAV 1410 can fly to pre-programmed way points or otherlocations.

FIG. 16 is a flow diagram illustrating aspects of the operationdescribed above with reference to FIG. 15. In an “idle” phase, mode, orstep 1610, the UAV controller can store the IMU data and run a routineto detect a freefall event 1620. “Freefall” as used herein can refer toa state when no other forces other than friction with the air and/orgravity act on the UAV—thus, throwing the UAV up in the air can beconsidered “freefall” and freefall is not limited to the UAV “fallingdown.” “Freefall” detection as used herein can include detection of alaunch event, which does not result from falling, but rather from aforceful release from the user's hand.

To detect freefall, for example, the routine can receive and trackinputs from the IMU 1468 (FIG. 14B), and check the values against athreshold condition. For example, when the routine determines that allacceleration values from the last 0.05 seconds are below 0.1 times theearth's acceleration, i.e. all acceleration values are below 1 m/sec²,this can correspond to a freefall event. If freefall is not detected,the controller can repeat steps 1610 and 1620. If freefall is detected,the controller can calculate the velocity and attitude of the motion ofthe UAV relative to the user's frame of reference 1493 (FIG. 14B).

The routine executed by the controller can be programmed to “assume” therelease of the UAV to have happened in a particular time window beforethe freefall detection event (e.g., from 1-0.05 seconds prior tofreefall). In other embodiments the release can be explicitlyidentified. By integrating the acceleration over the time window, theroutine can determine the velocity vector v1 of the UAV (block 1630).The motors of the UAV can be turned on and it can be stabilized to zeroacceleration along the X- and the Y-axis, to hold the position along theZ-axis (e.g., “altitude-hold mode.”) The axes in this example arerelative to the user reference frame, which can be stationary or movingdepending upon the embodiment. The flight controller can use the inputof an air pressure sensor to help stabilize the UAV's altitude incombination with providing inertial navigation along the Z axis.

At block 1650, the UAV starts its flight. The start flight event cantake about 0.8 seconds in particular embodiments. Following the startflight event, the UAV can be decelerated to zero velocity in the user'sreference frame by accelerating with constant acceleration a1 along theX- and Y-direction for time t1 given by, e.g., v1=a1*t1 (block 1660).The absolute value of the constant acceleration a1 can be set inadvance, e.g., to about 2 m/sec² in some embodiments, e.g., with orwithout a smooth acceleration ramp. Now the UAV can be at rest in theuser's frame and can take a picture and/or a video (block 1670). Aftertaking the picture, the UAV can return to the user by accelerating withan acceleration of a1 for time #1 (block 1680). The UAV can now bemoving at velocity −v1 toward the user and the user can catch the UAV inmid-air. The UAV can be decelerated before getting close to the user, soas to reduce sudden peaks in acceleration. Any absolute accelerationalong, e.g., the X or Y axes higher than, e.g., 5 m/sec² can be detectedas a catch (block 1690). In other embodiments, other sensors can be usedin addition to or in lieu of an accelerometer. If no catch is detected,the UAV can decelerate and slow down and perform an automated landing(block 1691). In other embodiments, the UAV can be tethered to the userand the user can pull on the tether to return the UAV to the user or toland the UAV such that it can be readily recovered. If a catch isdetected the motors can be switched off, e.g., automatically, (block1692) and the UAV can be placed back into idle mode (block 1610).

In the foregoing embodiment, the control algorithm determines when andwhere the UAV stops (i.e., hovers) and turns. The algorithm can use twoparameters to make this determination. For example, the direction of thethrow can determine the direction of travel for the UAV, and theintensity, e.g., the integrated acceleration, of the throw can determinethe distance the UAV travels. The extension of the algorithm to definethree parameters can proceed as follows: Instead of controlling the UAVto be at a constant height. The two angles and the absolute value of thethrow velocity vector are used to control the turning point of the UAVin three dimensions. This results in full three dimensional control overthe turning point of the UAV.

FIGS. 17A-17B illustrate control modes for interpreting a user's motions(e.g., gestures and/or interactions with the UAV) in accordance withsome embodiments of the present technology. Some users may be morecomfortable indicating flight patterns with their gestures (e.g., bythrowing the UAV, as described above with reference to FIG. 15). Otherusers, however, may not be able to throw the UAV with the accuracy theydesire. Accordingly, the disclosed UAVs can operate in one or more modes(which can be selected, e.g., by operating a selector on the UAV) toaccommodate different user preferences.

As shown in FIG. 17A, the UAV 1410 can be set in a “complete controlmode” by the user 190. In this mode, the throw velocity vector can beused to determine the flight path taken by the UAV. For example, if theuser throws the UAV gently in an upward direction, the UAV will travelalong a first vector v1 for a first distance D1 to a first targetlocation TL1. The first target location TL1 is determined by the throwvelocity (e.g., integrated acceleration) provided by the user's throwinggesture or motion. Signal processing can be performed to identify thefirst vector v1 at release, as distinguished, e.g., the pre-releaserotation of the user's arm. The UAV is then directed along the firstvector v1 until it reaches the first target location TL1. Similarly, avery hard throw in the direction of a second vector v2 will cause theUAV to travel a much greater distance (e.g., a second distance D2)corresponding to the magnitude of the throw, to arrive at a secondtarget location TL2. Finally, a throw with intermediate accelerationbetween the first and second vectors v1, v2 can result in a distance ofa third vector v3 to arrive at a third target location TL3. In someembodiments, gestures that would cause the UAV to hit the ground can berecognized by the flight controller as such, and the flight controllercan direct the UAV to maintain an offset relative to the earth. Theflight controller can also project the launch vector onto a plane abovethe earth's surface to identify a suitable flight path.

While “complete control mode” can provide experienced users with theability to exactly place the UAV, some users can find the granularityand/or required accuracy frustrating. As shown in FIG. 17B, the UAV caninstead be set in a “constrained input mode” by the user 190.Constrained flight can incorporate one or more surfaces into the flightpath and can project the user's commands onto those surfaces. In thisexample, regardless of the direction of the launch vectors v1, v2, v3,the system can identify a distance, e.g., D1, D2, D3, corresponding tothe magnitude or force of the throw, project the launch vector onto aplane, e.g., 7 feet above the earth's surface, or at the launchaltitude, and then set a flight path or trajectory (TR1, TR2, TR3) whichwill bring the UAV to a position on the plane, with the distancecorresponding to the magnitude of the force with which the user launchedthe UAV. The corresponding target locations are identified as TL10, TL20and TL30, respectively, in FIG. 17B. In another constrained input mode,both the distance and altitude are preset, and the user's throwingmotion determines only the direction of the target location. Thisarrangement can be particularly useful for accurately and repeatedlycapturing an image of the user, even if the user is preoccupied withother tasks (e.g., climbing or other sports activities) and does notwish to focus on accurately placing the UAV. In particular embodiments,the user can change among the various control modes (via a mechanicalswitch or a software interface provided by a smart phone or otherdevice), e.g., by reducing constraints as the user becomes moreproficient.

Though depicted in FIG. 17B as a flat plane, the projection surface canhave other shapes in other embodiments. For example, the surface can behemispherical (e.g., located about the user) with the throwing forcecorresponding to the height in the sphere of the target location),spherical, a conical or cylindrical (e.g., for which the magnitudeindicates how quickly and/or how far up the UAV is to circle the userwhile rising upward along the surface). In other embodiments,representative processes map the user's gesture to the UAVs trajectoryand/or location in accordance with other steps.

For embodiments in which the UAV includes a camera, the flight pathtaken by the UAV can include an adjustment such that the camera facesthe point of launch. In other embodiments, the UAV can be controlled inother manners. For example, if the user spins the UAV upon release, theUAV can take the plane corresponding to the spin as the plane upon whichit is to project its flight path, or the spin axis can correspond to theaxis of a conical or other surface upon which the flight path is to bebased, or the motion can signal the UAV to circle around the user afterreaching its turning point.

In some embodiments, inductance sensors and/or other sensors can be usedto determine when the user's hand is no longer touching the UAV deviceduring a release. Alone or in conjunction with such sensors, the UAV canalso be controlled based on the time series of previous IMU information.For example, FIG. 18 is a plot of a UAV's velocity over time during alaunch in accordance with particular embodiments. Beginning at time t0,the system can be idle (e.g., in the user's bag, worn by the user or onthe user's clothing.) During launch (e.g., during a wind up for a throw)between time t1 and t2, a velocity pattern associated with the launchwill occur. Following launch at time t2, a “freefall” period can follow.A UAV controller, reviewing the record of IMU data, can infer at time t3that a launch has occurred and can begin flight operations based uponthe UAV data thereafter. The determination can be coupled with othercontextual factors (e.g., input from an inductance sensor, pressuresensor, and/or other sensor) to distinguish non-launch behaviors (e.g.,passive movement while the UAV is worn), from launch behaviors.

In either of the foregoing embodiments, the system can include afeedback/learning routine. For example, over the course of time, thesystem can, with feedback from the user, be taught to understand that animparted acceleration of an amount P corresponds to a desired traveldistance of an amount Q. Using this feedback mechanism, the controlalgorithm can adjust for differences in accelerations provided bydifferent users.

The foregoing techniques for controlling the UAV can be applied to avariety of types of UAVs, including a multirotor vehicle, a helicopter,and/or a fixed-wing aircraft. Depending upon the embodiment, the UAV canalso receive further input via voice commands or gestures, which can bedetected by an on-board camera of the UAV, or from input provided by aseparate device, such as a smart phone or tablet. Additional commandscan be used to trigger the camera, and/or direct the UAV to flyadditional flight patterns. For example, once the UAV has reached atarget location, the user can take over manual control of the UAV and/orcan request that the UAV execute one or more pre-programmed flightpatterns. In still further embodiments, the UAV can be activated bymethods other than the freefall event detection described above. Suchother embodiments can include detection by a push button (e.g., locatedon the UAV) or a voice command. The trajectory control can be combinedwith image processing algorithms, including object tracking. Forexample, the trajectory control can account for movement by the user. Ina particular embodiment, the UAV can move to a turning point and thenuse computer vision to follow the user at a set offset angle anddistance until it is prompted to return.

To enable the foregoing functions and/or to facilitate photographyand/or videography, the camera carried by the UAV can swivel around onlya single axis (e.g., the X-axis) or multiple axes (e.g., any combinationof the X, Y, and Z axes).

As discussed above, the launch gesture or movement can be used toprovide additional information beyond simply the desired targetlocation. For example, the additional information can be used toidentify the desired pose or orientation of the vehicle once it reachesthe target location. In further embodiments, such information can beused to control the manner in which the UAV reaches the target location,and/or other aspects of the flight path of the UAV. For example, if theuser executes a swinging gesture (e.g., immediately prior to releasingthe UAV) the UAV can be programmed to interpret this movement as adirective to fly in a circle around the user, for example, to capture apanorama.

The UAV can carry any of a suitable combination of sensors to assist inperforming its mission and/or navigating and/or controlling the UAV,Such sensors can include radio strength signal sensors, globalpositioning systems, image processing sensors, air pressure sensors,among others. The sensors can be used to control the limits of the UAVsmotion. For example, the sensors can be used to prevent the UAV fromflying too high, or too far, or too low, or against obstacles, or intothe user. The camera, and in particular an autofocus function of thecamera, can receive distance information from an external sensor to morequickly focus on a particular target.

Reference in the present specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with the embodiment is includedin at least one embodiment of the disclosed technology. The appearancesof the phrase “in one embodiment” in various places in the specificationare not necessarily all referring to the same embodiment, nor areseparate or alternative embodiments mutually exclusive of otherembodiments. Moreover, various features are described which can beexhibited by some embodiments and not by others. Similarly, variousrequirements are described which can be requirements for someembodiments, but not for other embodiments.

From the foregoing, it will be appreciated that specific embodiments ofthe disclosed technology have been described herein for purposes ofillustration, but that various modifications may be made withoutdeviating from the technology. For example, the missions carried out bythe foregoing UAVs can include tasks in addition to or in lieu ofphotography and/or videography. Representative tasks include gasdetection, amusement (as a toy), and locating objects (e.g., usingpattern recognition). Still further suitable missions include:

-   -   obtaining video (e.g., live stream video) from perspectives that        are not accessible to the user    -   providing a mobile baby monitor or nanny camera function, or        providing a close-up view to a parent, guardian, and/or other        user    -   providing a chaperone function while the user walks in dangerous        or dark places    -   obtaining pictures and/or video to obtain help in an emergency        and/or tag or mark an assailant    -   providing assistance to the blind while navigating in public and        at home    -   providing an assistant and/or beacon functions for victims in a        disaster, such as an earthquake or avalanche    -   providing assistance to the elderly and/or disables and/or        people at risk for injury    -   provide an assistant function for rescuers and/or deliver        critical resources to victims    -   supporting reporters    -   engaging in physical games with UAVs using the UAV to obtain a        third person view in gaming    -   locating and deliver small objects and/or provide assistance in        locating such objects (e.g., keys).

While the UAV can be controlled using the gesture-based techniquedescribed above, in other embodiments, the UAVs can be controlled usingmore conventional one-way or two-way radio links. The UAV can useinertial navigation, radio signal strength (e.g., to detect the distancefrom a user-worn signal transmitter), GPS, and/or other satellite-basedtechniques for navigation. In still further embodiments, the UAV can becontrolled via Bluetooth or other wireless communication links. Theflight controller can incorporate a commercially-available component,such as an Arduino™ device as the microcontroller, or a 6- or othermulti-axis motion sensor available from Invensense, or a radio-frequencyreceiver available from FlySky™ as a receiver. The UAV can be controlledfrom other wearable devices, such as a smart phone device. The sensorscarried by the UAV can include, in addition to or in lieu of thosedescribed above, a GPS sensor, and/or a magnetometer. The pictures takenby the UAV can be stored in a memory located on the UAV and/ortransmitted to the user (or another location) via a radio frequencylink. When provided to the user, the user can view the informationrecorded by the UAV, in real-time, or after a transmission delay. Thepivotable mount that connects the camera with the UAV can compensate forthe orientation of the UAV and/or UAV vibration. As discussed above, theUAV can be incorporated into other devices, for example, thewrist-mounted UAV can be integrated into a smart watch, and/or theglasses configured UAV can be integrated into a smart device such as aGoogle glass device. The structures described above can have othershapes and/or configurations in other embodiments. For example, theshields 144 described above with reference to FIG. 1 can have differentcircumferential extents including extents that fully encircle thepropellers 143 while the UAV is flying. The UAV can have other numbersof propellers (e.g., 1, 2, 3, or more than 4).

Certain aspects of the technology described in the context of particularembodiments may be combined or eliminated in other embodiments. Forexample, the control techniques described above with reference to FIGS.15-18 can be implemented with UAVs having a wearable configuration or adifferent, non-wearable configuration. Further, while advantagesassociated with certain embodiments of the disclosed technology havebeen described in the context of those embodiments, other embodimentsmay also exhibit such advantages, and not all embodiments neednecessarily exhibit such advantages to fall within the scope of thetechnology. Accordingly, the disclosure and associated technology canencompass other embodiments not expressly shown or described herein.

Further Embodiments

Particular embodiments of the present technology include a UAV thatfurther includes a wearable, flyable support structure, and a propulsionsystem carried by the support structure. The propulsion system caninclude a power source and a plurality of propellers. In furtherparticular embodiments, the support structure is changeable between afirst configuration in which the support structure is arranged to beworn by a user, and a second configuration in which the supportstructure is arranged to fly. For example, the support structure caninclude a boom portion extending along an axis, with the boom portionbeing curved about the axis in the first configuration, and curvedtransverse to the axis in the second configuration. The supportstructure can form a wristband.

In further embodiments, the UAV can include a flight controller. Theflight controller can be programmed with instructions that, whenexecuted, direct the UAV from a user to a pre-determined location,direct an on-board camera to take a picture, and direct the UAV to theuser. A representative method for operating a UAV in accordance with thepresent technology includes wearing the UAV, taking the UAV off,launching the UAV on a flight path, retrieving the UAV, and putting theUAV back on. In particular embodiments, the method can further includemoving away from the UAV after launching, while the UAV follows.

A further embodiment includes a method for directing the use of a UAV,and includes instructing a user to wear the UAV, take the UAV off,launch the UAV on a flight path, retrieve the UAV, and put the UAV backon. In a particular embodiment, the method can further includeprogramming the UAV with instructions to take a picture of the userwhile in flight, and/or follow the user while in flight.

Further embodiments of the technology include a computer-implementedmethod for operating a UAV, which includes detecting at least oneparameter of a motion of the UAV as a user releases the UAV for flight,and, based at least in part on the at least one detected parameter,establishing a flight path for the UAV. The method can still furtherinclude directing the UAV to fly the flight path. In particularembodiments, the flight path includes a target location, and is the onlyflight path used by the UAV to reach the target location. In aparticular embodiment, detecting at least one parameter includesdetecting an acceleration and a direction, with the accelerationcorrelated with a target distance on the flight path, and with thedirection correlated with the direction of the flight path. In furtherparticular embodiments, the flight path includes a first segment in adirection away from the user and a second segment back to the user, withboth the first and second segments executed autonomously withoutexternal input after the user releases the UAV for flight. In yet afurther embodiment, the method can include, in response to sensing theuser catching the UAV, and automatically turning off propellers carriedby the UAV.

A representative method for manufacturing a UAV includes programming acontroller of the UAV with instructions that, when executed, detect atleast one parameter of a motion of the UAV as a user releases the UAVfor flight. Based at least in part on the at least one detectedparameter, the method can further include establishing a flight path forthe UAV, and directing the UAV to fly the flight path. Establishing theflight path can include establishing a direction to a target locationbased at least in part on the direction of the UAV at release. Inanother embodiment, establishing the flight path can include projectinga vector of the release onto a surface.

To the extent any materials incorporated herein by reference conflictwith the present disclosure, the present disclosure controls.

We claim:
 1. A computer-implemented method for operating an unmannedaerial vehicle (UAV), comprising: detecting at least one parameter of amotion of the UAV, wherein the at least one detected parameter includesat least one of a velocity or an acceleration imparted to the UAV by ahand of a user as the user releases the UAV for flight; based at leastin part on the at least one detected parameter, establishing a flightpath for the UAV; and directing the UAV to fly the flight path.
 2. Themethod of claim 1 wherein the flight path includes a target location,and wherein the flight path is the only flight path used by the UAV toreach the target location.
 3. The method of claim 1 wherein detecting atleast one parameter includes detecting the acceleration.
 4. The methodof claim 1 wherein detecting at least one parameter includes detecting adirection.
 5. The method of claim 1 wherein detecting includes detectingthe acceleration and a direction, and wherein the acceleration iscorrelated with a target distance on the flight path, and wherein thedirection is correlated with a direction of the flight path.
 6. Themethod of claim 1 wherein determining a flight path includes determininga target orientation of the UAV at a target location on the flight path,and wherein the target orientation includes one for which the UAV isfacing the user.
 7. The method of claim 1 wherein establishing theflight path includes projecting a vector of the release onto a surface.8. The method of claim 7 wherein the surface is a flat surface.
 9. Themethod of claim 1, wherein the flight path includes a target locationand a distance of the target location from the user is correlated withthe acceleration.
 10. The method of claim 1 wherein the flight pathincludes a first segment in a direction away from the user and a secondsegment back to the user, with both the first and second segmentsexecuted autonomously without external input after the user releases theUAV for flight.
 11. The method of claim 1 wherein the flight pathincludes a first segment in a direction away from the user and a secondsegment back to the user, and wherein the method further comprises: inresponse to sensing the user catching the UAV, automatically turning offpropellers carried by the UAV.
 12. The method of claim 11, furthercomprising sensing the user catching the UAV, and wherein the sensingincludes sensing the acceleration.
 13. The method of claim 1 wherein theflight path includes a segment in a direction away from the user, andwherein the method further comprises directing the UAV to turn towardthe user based on the direction of the segment.
 14. The UAV of claim 13,further comprising directing the UAV to capture an image of the userwhen turned toward the user.
 15. An unmanned aerial vehicle (UAV),comprising: a flyable support structure; a propulsion system carried bythe support structure, the propulsion system including: a power source;and at least one propeller; a sensor carried by the support structureand coupled to the power source, the sensor being configured to detectat least one parameter of a motion of the UAV as a hand of a userimparts at least one of a velocity or an acceleration to the UAV forflight, wherein the detected parameter includes at least one of thevelocity of the acceleration; and a controller operatively coupled tothe sensor and programmed with instructions that, when executed: receivean indication of the at least one parameter; based at least in part onthe at least one parameter, establish a flight path for the UAV; anddirect the UAV to fly the flight path.
 16. The system of claim 15wherein the flight path includes a target location, and wherein theflight path is the only flight path used by the UAV to reach the targetlocation.
 17. The system of claim 15 wherein the flyable supportstructure is a wearable support structure.
 18. The system of claim 15wherein the sensor includes an accelerometer.
 19. A method formanufacturing an unmanned aerial vehicle (UAV), comprising: programminga controller of the UAV with instructions, that, when executed: detectat least one parameter of a motion of the UAV, wherein the at least onedetected parameter includes at least one of a velocity or anacceleration imparted to the UAV by a hand of a user as the userreleases the UAV for flight; based at least in part on the at least onedetected parameter, establish a flight path for the UAV; and direct theUAV to fly the flight path.